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ros-industrial / ur_modern_driver

(deprecated) ROS 1 driver for CB1 and CB2 controllers with UR5 or UR10 robots from Universal Robots
Apache License 2.0
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How to control the IO states of UR #338

Closed ChenyangRan closed 4 years ago

ChenyangRan commented 5 years ago

Since the driver can control the io states, then how to control it by code? I'm not familiar with the ros and ur. Could you please give me some suggestions?

gavanderhoorn commented 4 years ago

then how to control it by code?

if "by code" you mean from a ROS node: write a service client (rospy tutorial) for the SetIO service. Be sure to specify the correct values for fun, pin and state.

gavanderhoorn commented 4 years ago

Closing as this is not an issue with the package in this repository.